公开(公告)号：KR101139342B1

公开(公告)日：2012-04-26

申请号：KR1020110030959

申请日：2011-04-05

Applicant: 국방과학연구소

Inventor： 이명천 ,  지태영 ,  강신천 ,  박원성 ,  유호상

IPC: B25J5/00 ,  B62D55/08 ,  B62D55/075

Abstract: PURPOSE: A flipper for a mobile robot is provided to improve pulling force by increasing the contact area of a drive belt and the ground and to improve the mobility of a mobile robot reagardless of topographcial conditions. CONSTITUTION: A flipper for a mobile robot comprises a main wheel assembly, a drive shaft(30), a main bracket(50), a sub wheel assembly(20), and a drive belt(40). The main wheel assembly is meshed with a main shaft of a robot body and is rotated. The drive shaft is integrally connected to a sub shaft of the robot body and rotatably supports the main wheel assembly. The main bracket supports the main wheel assembly and is rotated by the drive shaft. The sub wheel assembly is rotatably coupled to a driven shaft installed in the other side of the main bracket. The drive belt is coupled to the outer surfaces of the main and sub wheel assemblies and is moved along the outer surface of a guide(55) of the main bracket.

Abstract translation: 目的：提供移动机器人的导板，通过增加驱动皮带和地面的接触面积来提高拉力，并提高移动机器人的移动性，而不必考虑地形条件。 构成：用于移动机器人的导板包括主轮组件，驱动轴（30），主支架（50），子轮组件（20）和驱动带（40）。 主轮组件与机器人主体的主轴啮合并旋转。 驱动轴与机器人主体的副轴一体连接，可转动地支撑主轮组件。 主支架支撑主轮组件，并由驱动轴旋转。 子轮组件可旋转地联接到安装在主支架另一侧的从动轴。 传动皮带联接到主轮和副轮组件的外表面，并沿着主支架的引导件（55）的外表面移动。